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Fix MAVLink app startup race during boot #8081

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merged 2 commits into from
Oct 7, 2017
Merged

Fix MAVLink app startup race during boot #8081

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21b19e8
FMUv5: Increase USB buffer to increase transfer rates
LorenzMeier Oct 7, 2017
5cacfb9
MAVLink app: Fix boot-time race between receive thread and instantiat…
LorenzMeier Oct 7, 2017
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2 changes: 1 addition & 1 deletion nuttx-configs/px4fmu-v5/nsh/defconfig
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Original file line number Diff line number Diff line change
Expand Up @@ -962,7 +962,7 @@ CONFIG_CDCACM_NRDREQS=4
CONFIG_CDCACM_NWRREQS=4
CONFIG_CDCACM_BULKIN_REQLEN=96
CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=8000
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_PRODUCTID=0x0032
CONFIG_CDCACM_VENDORSTR="3D Robotics"
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6 changes: 3 additions & 3 deletions src/modules/mavlink/mavlink_main.cpp
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Expand Up @@ -1988,9 +1988,6 @@ Mavlink::task_main(int argc, char *argv[])
/* Initialize system properties */
mavlink_update_system();

/* start the MAVLink receiver */
MavlinkReceiver::receive_start(&_receive_thread, this);

MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update));
uint64_t param_time = 0;
MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status));
Expand Down Expand Up @@ -2180,6 +2177,9 @@ Mavlink::task_main(int argc, char *argv[])
send_autopilot_capabilites();
}

/* start the MAVLink receiver last to avoid a race */
MavlinkReceiver::receive_start(&_receive_thread, this);

while (!_task_should_exit) {
/* main loop */
usleep(_main_loop_delay);
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